CN110682320A

CN110682320A - Natural rubber block grabbing clamp

Info

Publication number: CN110682320A
Application number: CN201911088389.9A
Authority: CN
Inventors: 姜贵中; 施庆华; 袁骏; 林琳; 胡睿; 刘清茂
Original assignee: MACHINERY DESIGN INST OF YUNNAN PROV
Current assignee: MACHINERY DESIGN INST OF YUNNAN PROV
Priority date: 2019-11-08
Filing date: 2019-11-08
Publication date: 2020-01-14
Anticipated expiration: 2039-11-08
Also published as: CN110682320B

Abstract

Natural rubber piece snatchs anchor clamps is including connecting pipe (10) that can install on robot (23) hang the grabbing arm, install rectangle base plate (7) in the connecting pipe bottom, two rectangles that the symmetry set up in the base plate below change board (3), set up rectangle push pedal (5) in rectangle commentaries on classics board below. The invention can efficiently and quickly take the rubber block out of the mold without damaging the rubber block.

Description

Natural rubber block grabbing clamp

Technical Field

The invention relates to the technical field of clamp structures, in particular to a clamp for taking out a baked natural rubber block from a wet-process rubber baking mould.

Background

In the traditional wet-process rubber baking production of natural rubber, a method for taking baked rubber blocks out of a mold depends on manual operation, workers use a rake with teeth to dig the rake into the rubber blocks in the mold forcibly, and then lift the rake upwards to take the rubber blocks out. The manual operation mode has the advantages that the labor intensity of workers is high, the production efficiency is low, the work site is smelly, great harm is caused to the bodies of the workers, and in addition, when the glue is grabbed, the grabbing position is not fixed, the manual force is limited, the glue block cannot be grabbed for several times, the rubber block is damaged, and the quality of the glue block cannot be guaranteed.

Disclosure of Invention

The invention aims to solve the problems in the prior art and provides a natural rubber block grabbing clamp which is efficient and quick and can take out a rubber block from a mould without damaging the rubber block.

The technical scheme adopted by the invention is as follows:

the natural rubber block grabbing clamp comprises a connecting pipe which can be arranged on a robot suspension grabbing arm, a rectangular base plate arranged at the bottom end of the connecting pipe, two rectangular rotating plates symmetrically arranged below the base plate, and a rectangular push plate arranged below the rectangular rotating plates;

two pairs of lug seats and rotating shafts arranged on the lug seats are symmetrically arranged at the central line position of the bottom surface of the base plate, round holes, strip holes and base plate supports arranged at two sides of the strip holes are symmetrically arranged at the middle positions of two sides of the base plate, a rotatable air cylinder seat and a rotating plate air cylinder vertically arranged on the air cylinder seat are arranged on the base plate supports, and an air cylinder rod of the rotating plate air cylinder penetrates through the strip holes downwards; push plate cylinders are symmetrically arranged on the two sides of the connecting pipe on the base plate support, and cylinder rods of the push plate cylinders penetrate through the round hole in the middle of the base plate and the rotating plate downwards and then are fixedly connected with the push plate;

the inner ends of the two rectangular rotating plates are respectively sleeved on the rotating shaft through at least two lantern rings, a rotating plate support is arranged on the top surface of the rotating plate, a rotatable joint is sleeved on a support shaft of the rotating plate support, and a cylinder rod head of the rotating plate cylinder is fixedly connected with the joint; a group of downward contact pins are arranged on the rectangular rotating plate;

a group of through holes are formed in the rectangular push plate, and the contact pins downwards penetrate through the through holes of the rectangular push plate; guide rods are respectively installed at four corners of the top surface of the rectangular push plate, the guide rods upwards penetrate through the rectangular rotating plate and the rectangular base plate, guide rod holes for the guide rods to penetrate through are machined at the four corners of the rectangular base plate, and linear bearings are installed in the guide rod holes;

the push plate cylinder and the rotary plate cylinder are controlled by a control system.

The top end of the connecting pipe is provided with an electronic weighing device.

According to the clamp, a plurality of contact pins can be vertically inserted into the soft rubber block which is solidified and formed in the mould, and then the contact pins are driven to deflect by rotating the rectangular rotating plate, so that the rubber block can be stably clamped at one time and then taken out, mechanical automatic rubber grabbing is realized, and the production efficiency is improved. And the rubber block can not be damaged, and the quality of the rubber block can be ensured.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view showing a state in which a rectangular rotating plate of the present invention is rotated;

FIG. 3 is a schematic view of the rectangular rotating plate of the present invention fitted on the rotating shaft;

fig. 4 is a schematic diagram of the working state of the grabbing rubber block arranged on the suspension grabbing arm of the robot.

Detailed Description

The natural rubber block gripping jig shown in fig. 1 to 3 comprises a connecting pipe 10 which can be mounted on a suspension arm of a robot 23, a rectangular base plate 7 mounted at the bottom end of the connecting pipe, two rectangular rotating plates 3 symmetrically arranged below the base plate, and a rectangular push plate 5 arranged below the rectangular rotating plates.

Two pairs of lug seats 12 and a rotating shaft 8 arranged on the lug seats are symmetrically arranged at the central line position of the bottom surface of the base plate, round holes, long holes 6 and base plate supports 13 arranged at two sides of the long holes are symmetrically arranged at the middle positions of two sides of the base plate, a rotatable air cylinder seat 15 and a rotating plate air cylinder 2 vertically arranged on the air cylinder seat are arranged on the base plate supports, and an air cylinder rod 16 of the rotating plate air cylinder penetrates through the long holes downwards; push plate cylinders 1 are symmetrically arranged on two sides of the connecting pipe on the substrate support, and cylinder rods of the push plate cylinders penetrate through the round holes in the middle of the substrate and the rotating plate 3 downwards and then are fixedly connected with the push plate 5. The long strip hole 6 for the cylinder rod of the rotating plate cylinder to pass through is a waist-shaped hole or a rectangular hole, and the long axis of the long strip hole is arranged along the length direction of the substrate, so that the cylinder rod of the rotating plate cylinder can push the rectangular rotating plate to rotate and reset stably, and the cylinder rod is limited; the inner ends of the two rectangular rotating plates 3 are respectively sleeved on the rotating shaft 8 through at least two lantern rings 21, and the rectangular rotating plates can rotate along the rotating shaft 8. A rotating plate support 19 is arranged on the top surface of the rotating plate, a rotatable joint 17 is sleeved on a support shaft 18 of the rotating plate support, and the head of a cylinder rod 16 of the rotating plate cylinder is fixedly connected with the joint 17; a set of downward pins 4 are mounted on the rectangular rotating plate. A group of through holes 20 are formed in the rectangular push plate 5, and the contact pin 4 downwards penetrates through the through holes 20 of the rectangular push plate 5. Guide rods 14 are respectively installed at four corners of the top surface of the rectangular push plate, the guide rods upwards penetrate through the rectangular rotating plate 3 and the rectangular base plate 7, guide rod holes for the guide rods to penetrate through are machined at the four corners of the rectangular base plate 7, linear bearings 11 are installed in the guide rod holes, and the four guide rods 14 play a role in guiding and can stably and synchronously move in the linear bearings so as to control the stable lifting of the rectangular push plate 5. And the push plate cylinder 1 and the rotating plate cylinder 2 are both connected with a robot control system and are controlled by the control system to act. Two flanges 22 are respectively welded at two ends of the connecting pipe 10, the upper end flange is connected with the electronic weighing device 9, and the electronic weighing device is connected with the robot. The lower end flange is connected with a rectangular base plate 7. The electronic weigher can weigh the gripped rubber block, transmit the weighed rubber block to the control system and display the weighed rubber block on the display.

As shown in fig. 4, the top end of the connecting pipe 10 of the invention is arranged on the suspension grabbing arm of the robot 1, and the work of the clamp of the invention is controlled by a robot control system, and the robot can adopt a robot of the prior art.

The specific working process is as follows:

a. the robot moves the clamp to the position right above the rubber mold 25, the push plate cylinder 1 and the rotating plate cylinder 2 are at retraction positions at the moment, the two rectangular rotating plates 3 are in a horizontal state, the contact pin 4 is in a vertical state, and the rectangular push plate 5 is retracted to a high position;

b. the robot controls the motion of the depending gripper arms to move the inventive fixture down to insert the pins 4 into the rubber blocks 26 in the mold. The mould remains stationary;

c. the rotating plate cylinder 2 extends out to push the two rectangular rotating plates 3 to rotate oppositely by taking the rotating shaft 8 as a center, so that the contact pins 4 on the left and right rectangular rotating plates are driven to clamp inwards to hold the rubber blocks tightly, then the robot controls the suspension grabbing arm to lift upwards, the clamp holding the rubber blocks is lifted, and the rubber blocks can be taken out and transferred to a tray;

d. the rectangular rotating plate 3 rotates around the rotating shaft 8 as the center, and when the inserting pin 4 is in a vertical state, the rubber block is loosened;

e. the push plate cylinder 1 pushes out to drive the rectangular push plate 5 to move downwards, and the rubber block inserted on the contact pin is pushed out downwards to be separated from the contact pin 4, so that the rubber block falls on the tray;

f. the push plate cylinder 1 retracts to drive the rectangular push plate 5 to reset upwards, and the action of grabbing the rubber block once is completed.

Claims

1. The natural rubber block grabbing clamp is characterized by comprising a connecting pipe (10) which can be arranged on a suspension grabbing arm of a robot (23), a rectangular base plate (7) arranged at the bottom end of the connecting pipe, two rectangular rotating plates (3) symmetrically arranged below the base plate, and a rectangular push plate (5) arranged below the rectangular rotating plates;

two pairs of lug seats (12) and a rotating shaft (8) arranged on the lug seats are symmetrically arranged at the central line position of the bottom surface of the base plate, round holes, long holes (6) and base plate supports (13) arranged at two sides of the long holes are symmetrically arranged at the middle positions of two sides of the base plate, a rotatable air cylinder seat (15) and a rotating plate air cylinder (2) vertically arranged on the air cylinder seat are arranged on the base plate supports, and an air cylinder rod (16) of the rotating plate air cylinder penetrates through the long holes downwards; push plate cylinders (1) are symmetrically arranged on the two sides of the connecting pipe on the substrate support, and cylinder rods of the push plate cylinders penetrate through the round hole in the middle of the substrate and the rotating plate (3) downwards and then are fixedly connected with the push plate (5);

the inner ends of the two rectangular rotating plates (3) are respectively sleeved on the rotating shaft (8) through at least two lantern rings (21), a rotating plate support (19) is installed on the top surface of each rotating plate, a rotatable joint (17) is sleeved on a support shaft of each rotating plate support, and a rod head of a cylinder rod (16) of the rotating plate cylinder is fixedly connected with the joint (17); a group of downward contact pins (4) are arranged on the rectangular rotating plate;

a group of through holes (20) are formed in the rectangular push plate (5), and the contact pin (4) downwards penetrates through the through holes (20) of the rectangular push plate (5); guide rods (14) are respectively installed at four corners of the top surface of the rectangular push plate, the guide rods upwards penetrate through the rectangular rotating plate (3) and the rectangular base plate (7), guide rod holes for the guide rods to penetrate through are machined at the four corners of the rectangular base plate (7), and linear bearings (11) are installed in the guide rod holes;

the push plate cylinder (1) and the rotating plate cylinder (2) are controlled by a control system.

2. The natural rubber block gripping jig of claim 1, wherein an electronic scale (9) is installed at the top end of the connection pipe (10).